Enhanced Accuracy in Magnetic Actuation: Closed-Loop Control of a Magnetic Agent With Low-Error Numerical Magnetic Model Estimation

Erin, Önder; Raval, Suraj; Schwehr, Trevor J.; Pryor, Will; Barnoy, Yotam; Bell, A; Liu, Xiaolong; Mair, Lamar O.; Weinberg, I.; Krieger, Axel; Diaz-Mercado, Yancy

doi:10.1109/lra.2022.3191047

Cited by 9 publications

(3 citation statements)

References 26 publications

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“…( 4) requires the information about the magnetic field vector and its gradient at every position in the workspace. A number of method exist to acquire the field and gradient values including the magnetic dipole formula [17], finite element analysis (FEA) [18], and measurement-based interpolation [19]. In this work, the measurement-based interpolation method was adopted due to its fast calculation time and ease of implementation.…”

Section: B Magnetic Actuationmentioning

confidence: 99%

“…It is worth mentioning that Eq. ( 5) produces a number of singularities for specific combinations of orientations and positions that causes its determinant to be zero [18]. These singular positions cause the currents supplying the electromagnets to reach very high values, which momentary disturbs the magnetic actuation and can cause an actuation failure.…”

Section: B Magnetic Actuationmentioning

confidence: 99%

See 1 more Smart Citation

Hybrid Optothermal-Magnetic Mobile Microgripper for In-Liquid Micromanipulation

Ahmad

Barbot

Ulliac

et al. 2023

IEEE Robot. Autom. Lett.

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In this paper, we propose a mobile microgripper actuated using laser optothermal and magnetic actuation in liquid environments. This hybrid actuation scheme allows the full decoupling between the in-plane positioning of the mobile microgripper and the actuation of its gripping mechanism, which reduces the control complexity of such microgrippers. The work is divided into three main parts: 1) The design and fabrication of an optothermally actuated microgripper using a spiral bimaterial microjoint. 2) The two dimensional positioning of the microgripper in the working area using magnetic fields generated by four electromagnets. 3) The two dimensional steering of the laser beam using a tip/tilt galvo mirror to optothermally actuate the gripping mechanism on demand. The developed mobile microgripper with the dimensions of 1500×700×250 µm can realize an open and close gripping motion of 35 µm, a magnetic positioning accuracy of 6 µm for translation over an area of 1×1 mm and 2°for rotation, and a laser steering accuracy of 25 µm. Finally, the mobile microgripper is used to control the position of a microbead inside a liquid environment. Our work provides a proof of concept of laser optothermalmagnetic hybrid actuation, which has the potential to enhance the deployment of microtools in biomedical applications including cell manipulation and lab-on-chip devices.

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Section: B Magnetic Actuationmentioning

confidence: 99%

Section: B Magnetic Actuationmentioning

confidence: 99%

Hybrid Optothermal-Magnetic Mobile Microgripper for In-Liquid Micromanipulation

Ahmad

Barbot

Ulliac

et al. 2023

IEEE Robot. Autom. Lett.

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“…Electromagnetic actuation finds application in many engineering sectors since its driving magnetic field can easily and safely propagate through many materials and reach confined spaces. These unique features make this actuation form well-suited for multiple applications broadly related to robotics, such as electromagnetic actuation for image stabilization [1], minimally invasive microrobots for microsurgery [2][3][4][5][6][7][8], targeted drug delivery inside the human body [9,10] or early screening and cancer treatment [11], magnetic levitation (e.g., vertical motion of a ball [12]) and general motion control of ferromagnetic elements (e.g., planar steering of a ferrofluid drop [13]).…”

Section: Introductionmentioning

confidence: 99%

A Cost-Effective Integrated Methodology for Electromagnetic Actuation via Visual Feedback

Chen,

Padovani,

Cioncolini

et al. 2024

Preprint

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Electromagnetic actuation can support many fields of technology, such as robotics or biomedical applications. In this context, fully understanding the system behavior and proposing a low-cost package for feedback control is challenging. Modeling the electromagnetic force is particularly tricky because it is a nonlinear function of the actuated object’s position and coil’s current. Measuring in real time the position of the actuated object with the precision required for accurate motion control is also nontrivial. In this study, we propose a novel, cost-effective electromagnetic set-up to achieve position control via visual feedback. We actuate vertically and under different experimental conditions a 10 mm diameter steel ball hanging on a low-stiffness spring, demonstrating good tracking performance (the position error remains within ±0.5 mm with a negligible phase delay in the best scenarios). The experimental results confirm the feasibility of the proposed set-up, which is characterized by minimum complexity and realized with off-the-shelf and cost-effective components. For these reasons, such a contribution helps to understand and apply electromagnetic actuation even further.

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